CN103748600A - Method and device for detecting disturbing objects in the surrounding air of vehicle - Google Patents
Method and device for detecting disturbing objects in the surrounding air of vehicle Download PDFInfo
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- CN103748600A CN103748600A CN201280040814.7A CN201280040814A CN103748600A CN 103748600 A CN103748600 A CN 103748600A CN 201280040814 A CN201280040814 A CN 201280040814A CN 103748600 A CN103748600 A CN 103748600A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0017—Devices integrating an element dedicated to another function
- B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- Image Analysis (AREA)
Abstract
The invention relates to a method for detecting disturbing objects in the surrounding air of a vehicle, comprising a step of determining (421) line structures in at least one image region of an image of the surroundings of the vehicle, a step of determining (425) a position of a first alignment region of first line structures and a position of a second alignment region of second line structures, and a step of determining disturbing objects reproduced in the image, said disturbing objects representing objects located in the surrounding air of the vehicle, on the basis of the position of the first alignment region and the position of the second alignment region.
Description
Technical field
The present invention relates to a kind of for identifying method, a kind of corresponding equipment and a kind of corresponding computer program of objects interfered of the surrounding air of vehicle.
Background technology
The snowflake of rainwater or whereabouts has limited vehicle driver's the ken.
At rear disclosed DE102010030616, relate to a kind of for identify the method for objects interfered at least one camera review of camera review sequence.
Summary of the invention
Under described background, by the present invention give chapter and verse main claim for identify vehicle surrounding air objects interfered method, make equipment in this way and corresponding computer program.By corresponding dependent claims and the following description book, obtain favourable configuration.
Vehicle driver's eyesight may be positioned at airborne objects interfered---for example raindrop or snowflake infringement.Video camera by vehicle can detect described objects interfered.When Vehicle Driving Cycle, be positioned near objects interfered video camera and due to the near distance of itself and video camera, than scenario objects, for example carriageway marking or the runway border of video camera further away from each other, move through quickly the image of video camera.During the time shutter of the image of video camera, due to the motion of objects interfered with respect to video camera, objects interfered appears in image as line structure.The line structure causing by objects interfered is provided for the estimation of vehicle displacement.Line structure disappears a common end point.Described end point can compare with the end point that characterizes the line of following runway trend: vehicle moves on described runway.If the end point of the line structure being caused by objects interfered is positioned on different positions from the end point that characterizes the line of runway trend, this shows the existence of objects interfered.If all or at least one major part of the line existing in image in contrast and line structure disappears in same end point, described end point is corresponding to the end point of runway trend, and this shows not exist objects interfered.
Advantageously, by the identification of objects interfered, also can infer severe weather conditions or generally infer restricted state of visibility.Information about objects interfered can be used by the backup system of vehicle.This backup system is for example following functions: pedestrian, adaptive optical control, lane departur warning or traffic mark identification are assisted, warned in night vision.
The mode proposing at this can with for identifying the additive method combination of objects interfered.Thus, can under different conditions, identify reliably objects interfered.For example, by the mode proposing at this, also make likely, at night, in the runway illumination ground situation test that utilizes the active of self, survey snowfall and rainfall and described information offered to other backup system.
The present invention relates to a kind of, for identifying the method for objects interfered of the surrounding air of vehicle, said method comprising the steps of:
In at least one image-region of the image of the surrounding environment of vehicle, determine line structure;
Determine the position in the first disappearance region of the First Line structure in a plurality of line structures and the position in the second disappearance region of the second line structure;
The objects interfered of imaging in image is asked in the position in the position based on described the first disappearance region and described the second disappearance region, and described objects interfered representative is arranged in the object of the surrounding air of vehicle.
Vehicle may for example relate to passenger car or the cargo vehicle on runway, for example moving on street.Objects interfered may relate to the object of the sighting distance that is positioned at airborne restriction vehicle driver.Described objects interfered may especially be arranged on the about driver's eyes height in vehicle front region or below.Described objects interfered may for example relate to snowflake, raindrop, leaf, sand, earth or insect that kick up or that fall.Described objects interfered may be suspended in air or in air and move.Image can represent image detection device---for example shooting of video camera to vehicle-periphery of arranging at vehicle place.Described image can imaging surrounding environment a section that is positioned at vehicle front in travel direction.Described image-region may illustrate a fragment of image.Described image-region can be around the optical axis align center of image detection device.In image-region, line structure can be the structure of extending in principal direction.Line structure for example can be asked for by the edge detection in the brightness trend at image.First Line structure may be in the surrounding environment of vehicle wire object---for example carriageway marking causes.This wire object is imaged as linear structure in image.The second line structure may cause in the following manner: during the time shutter of image, objects interfered moves transverse to camera plane.In order to obtain the second suitable line structure, can select the corresponding large time shutter.The described time shutter can be selected according to the speed of vehicle.Shorter time shutter in the time of can selecting than low velocity when high-speed.In the step of dividing, line structure can be divided into First Line structure and the second line structure.For line structure being divided into First Line structure and the second line structure, identified line structure and the line structure of storing can be compared.First Line structure especially can be identified like this and be identified by object.Disappearance region can be the region of end point or a restriction, and wherein, affiliated line structure intersects.In image-region, can pass through the prolongation of identified line structure and ask for described end point.To this, can use suitable algorithm.The position in disappearance region may be positioned at outside image-region or image-region.The position in the disappearance region of First Line structure may be positioned at on the visible horizontal height of vehicle driver.If the position in these disappearance regions is spaced apart from each other, this shows the existence of the objects interfered of imaging in image.About the information of identified existence, can offer by suitable interface one or more other systems of vehicle.
Described method can comprise that the imaging of region in image of selecting the headlamp lighting by vehicle is as the step of described at least one image-region.The light of headlamp not only irradiates pavement marker but also irradiates objects interfered.This generation be reflected in image in can identify well.This makes the definite of line structure become easy.
In the step of dividing, can select the line structure of trend of running section of those marked vehicle in line structure as First Line structure.The trend of described running section can be by imaging side carriageway marking or middle carriageway marking, by guardrail, kerbstone, curb, roadside cultivation, vehicle, light chain or the analog parked, identify.By analyzing and processing image suitably, the object of trend that can identification marking running section.This object may have line structure.This is for example this situation in the situation that of solid line runway boundary line.Also a plurality of this object placement can be become to a line and connect into a line structure.This is for example possible in the situation that of dotted line center line.
In the described step of dividing or another step, can select the line structure of mark of trend of running section that those in line structure do not represent vehicle as the second line structure.This line structure may especially be caused by objects interfered.Due to the motion of objects interfered, can not be shown clearly in the second line structure.If there is no objects interfered, does not have corresponding the second line structure yet.
In the step of position of determining the second disappearance region, can determine that following disappearance region is as the second disappearance region: the great majority of the second line structure disappear in described disappearance region.By this way can filtering line structure mark trend of road and that neither be caused by objects interfered.
In definite step, can determine another position in another the second disappearance region of the second line structure.In this case, also the step of the objects interfered of imaging in image is implemented to ask in another position based on another the second disappearance region.For example the second line structure of the image-region from different can be distributed to described the second disappearance region and described another the second disappearance region.Can consider thus, because the reason objects interfered of air-flow is around vehicle or video camera deflection, and change thus its direction.
Described method can comprise when the position in the second disappearance region be positioned at the first disappearance region above or below time the step about the information of the existence of objects interfered is provided.Defining with lower curtate of imaging that below can be by runway at this: described section the most close vehicle in image.Minor increment between can predetermined disappearance region is as the other standards of the existence for objects interfered.Below can be also the standard for the existence of objects interfered: the line between the central point in these disappearance regions of image becomes obtuse angle perpendicular to local horizon or with local horizon.
According to a kind of embodiment, the information of the existence about objects interfered can be offered to the interface of the light function of vehicle.For example can or there is not to regulate car lighting according to the existence of objects interfered.Alternatively or additionally, described information can be offered to other backup systems of vehicle or also described information can be offered to vehicle driver by way of caution.
In addition, the present invention has realized that a kind of described equipment is configured to for identifying the equipment of objects interfered of the surrounding air of vehicle, implements or realize the step of the method according to this invention in corresponding device.By this enforcement flexible program with apparatus-form of the present invention also can be fast and solve efficiently the present invention based on task.
The electric equipment that equipment can be understood as processes sensor signal and exports accordingly control signal at this.Described equipment can have by hardware mode and/or by the interface of software mode structure.In pressing the structure of hardware mode, interface can be for example a part of so-called system ASIC that comprises the least congenerous of described equipment.Yet also possibly, interface is independent integrated circuit or is comprised of discrete parts at least in part.In pressing the structure of software mode, interface can be software module, and it for example co-exists on microcontroller with other software modules.
The computer program with program code is also favourable, described program code can be stored in machine-readable carrier, as in semiconductor memory, harddisk memory or optical memory and for when with the corresponding equipment of computing machine on according to one of previously described embodiment, implement during executive routine as described in method.
Accompanying drawing explanation
Below exemplarily further set forth with reference to the accompanying drawings the present invention.Accompanying drawing illustrates:
Fig. 1 illustrates the schematic diagram of vehicle according to one embodiment of present invention;
Fig. 2 illustrates the image of video camera according to one embodiment of present invention;
Fig. 3 illustrates the pretreated image of video camera according to one embodiment of present invention;
Fig. 4 illustrates the process flow diagram of one embodiment of the present of invention.
In the subsequent descriptions of the preferred embodiments of the present invention, for shown in different accompanying drawings and the element that plays similar effect use same or similar reference marker, wherein, be not repeated in this description these elements.
Embodiment
According to one embodiment of present invention, Fig. 1 illustrates to be had for identifying the schematic diagram of vehicle 100 of the equipment of objects interfered 102, and described objects interfered is arranged in the air that surrounds vehicle 100.Vehicle 100 travels and is passing through on the runway of boundary line 104 marks.A plurality of objects interfereds 102 are shown---according to described embodiment, be snowflake, it is positioned at the place ahead of vehicle 100 in the travel direction of vehicle 100 at this.Have a plurality of objects interfereds 102, wherein, only three are provided with reference marker 102.Vehicle 100 has video camera 106, and it is configured to take the image of the front region of vehicle 100.Especially, video camera 106 is configured to take the region that the headlamp 108 by vehicle of the surrounding environment of vehicle 100 illuminates.
Objects interfered 102 moves towards runway.Yet, because vehicle is close, be positioned near objects interfered 102 vehicle 100 and carry out and dodge motion, by described, dodge objects interfered described in motion guidance and get around vehicle 100.The streamline that objects interfered 102 is similar in air channel moves around vehicle 100.For two in objects interfered 102, by arrow, exemplarily illustrate and dodge accordingly motion 110.At this, an execution in objects interfered 102 is in the other motion through left of vehicle 100.In contrast, another in objects interfered 102 carried out in the other motion through left of vehicle 100.The motion 110 of dodging of two objects interfereds can almost be moved towards symmetrically with respect to the optical axis of video camera 106.Dodging motion 110 causes carrying out the objects interfereds 102 dodge motion 110 and in the image of video camera 106, illustrates to non-point-like but be depicted as line structure.
Vehicle 100 has for identifying the equipment of objects interfered 102.Described equipment has input interface, to receive at least one image of being taken by video camera 106 or by the image information of this Image Acquisition and determine thus the information about the existence of objects interfered 102.According to described embodiment, vehicle 100 has for example for controlling the backup system 112 of headlamp 108.Described equipment is configured to by output interface, the information of the existence about objects interfered 102 be outputed in backup system 112.
For identifying the equipment of objects interfered 102, there is the device 121 of determining line structure at least one image-region of the image at video camera 106.For this reason, device 121 be configured to receive and analyzing and processing about the image information of image.For analyzing and processing image, can embodiment identify to determine line structure as edge detection, pattern-recognition or object.For definite device 121, be configured to the information of the line structure about identifying at image to output to for line structure being divided into the device 123 of First Line structure and the second line structure.For the device 123 of dividing, be configured to line structure to be divided into different groups.For dividing line structure, can use the information of the relevant line structure being provided by pattern-recognition or object identification.In order to divide the known end point that also can use the second line structure, thereby all line structures that point to the direction of known end point can be defined as to the second line structure.For the device 123 of dividing, be configured to the information about First Line structure and the second line structure to output to for determining the device 125 of the end point of line structure.Device 125 is configured to determine the first disappearance region of First Line structure and the second disappearance region of the second line structure.If known the second disappearance region, only can determine the first disappearance region.In addition, device 125 is configured to determine these positions each other, disappearance region.Device 125 be configured to by the position about the first disappearance region and about the information of the position in the second disappearance region, output to for asking for the device 127 at the objects interfered 102 of image imaging.For the device 127 of asking for, be configured to, based on the first disappearance region and the second position each other, disappearance region, ask for the information about the existence of objects interfered 102.According to described embodiment, for the device 127 of asking for, be configured to the information of the existence about objects interfered 102 to output to backup system 112.According to described embodiment, device the 121,123,125, the 127th, for identifying a part for the equipment of objects interfered 102.
In dark or travelling in dusk, belong to tiring especially and extremely risky driving condition.Therefore, in order to improve the security in road traffic, establish legally, the illumination distances of can be so manually or automatically mating the headlamp 108 of vehicle, make not dazzling other traffic participant, especially head-on sail the vehicle travelling in the vehicle that comes and the place ahead.When become due to the loading changing relative out of true and when often being underestimated by driver or forgetting, the adjusting dynamic, that mate each current traffic condition of the illumination distances of headlamp 108 is not attainable for driver of the mechanical adjustment of passing through driver of the illumination distances of headlamp 108.At this, by corresponding backup system 112, support that driver is appropriate.
According to described embodiment, the backup system 112 based on video obtains about the information of the objects interfered 102 of current identification or the information about current weather condition based on this information.Guarantee thus functional guarantee of backup system 112 in so-called severe weather conditions, for example snowfall, rainfall.
According to an embodiment, for example for the corresponding System Construction of the form of the equipment of identification objects interfered 102 for based on imaging sensor---the comparison of for example analyzing and processing of the signal of video camera 106 and the estimation based on model of the displacement based on vehicle 100, with rough scale, provide about the explanation of the existence of " severe " weather in the dark.
On the one hand, by rough convergent-divergent about severe weather conditions---the information of the existence of snowfall or heavy showers for example, additionally information auditorial or vision is experienced driver.On the other hand, this information is offered to other backup system 112.
According to one embodiment of present invention, Fig. 2 illustrates the image 230 of the front region of vehicle.Described image 230 can be for example by the video camera 106 shown in Fig. 1, detected and by described processing for identifying the device analysis of objects interfered.
In addition the local horizon of drawing in image 320 235 shown in Figure 2.
According to one embodiment of present invention, Fig. 3 is illustrated in the pretreated form of the image 230 shown in Fig. 2.The line structure of line 302,304 and the lane markings of identifying and snowflake intersects, and described line extends identified line structure on its corresponding principal spread direction.Four lines 302 distributing to the line structure of described four snowflakes have a common end point 342 or point of crossing.Two lines 304 distributing to the line structure of lane markings have a common end point 344.End point 344 is positioned on the height in local horizon 235.End point 342 is positioned at the top in local horizon 235.Not the skew ground or only slight shift ground layout each other of end point 342,344 described in the vertical direction.Self overlapping layout of end point 342,344 shows the existence of snowflake in the ken of video camera of taking described image 230.
Below the inclement weather of describing based on video by Fig. 3 and 4 is according to one embodiment of present invention surveyed.According to described embodiment, in video image 230 in succession, surveying all linear structures 102,104 in the region of self headlamp lighting each other.Therefore, understanding end point 344(focus of expension: the in the situation that of focus of expansion), subsequently can identification all structures that the reflection in carriageway marking 104 produces by light.If can pass through equilibrium calculation (Ausgleichsrechnung) for all remaining linear structures 102, estimate a common end point 342, described common end point is positioned at end point 344 tops of carriageway marking 104 or also may be positioned at its below, very likely has the weather conditions with for example heavy showers or strong snowfall.
According to an embodiment, can estimate described end point 344.When estimating vanishing point 344, can between initial static camera calibration and dynamic on-line calibration, distinguish.By on-line calibration, can carry out necessary correction, described fixed case is as the loading by temporary transient or also by the imbalance of video camera, caused.If ignore self vibrating of the other vehicle being caused by runway surface, the described estimation of end point 344 is enough.If require higher degree of accuracy, there are in principle two kinds of possibilities and determine more accurately described end point 344.To this, the displacement of vehicle can or be estimated from the information of video image based on vehicle sensors or by processing.Additionally, can to estimated end point 344, carry out confidence level inspection by the navigation data that may exist.
According to described embodiment, the degree of accuracy of the end point of estimating by on-line calibration is enough, because only can survey near field (<50m) on the one hand and therefore evaluate objects interfered, and providing on the other hand the explanation qualitatively about the existence of objects interfered.
If temporarily can not realize the estimation based on carriageway marking of end point, for example, due to other vehicles or snow-covered runway, every other hypothesis all relates to the estimation of on-line calibration.
For the estimation based on carriageway marking of end point, always suppose that a profile is as initial model in principle.Not only can but also can in bend, use this profile in the trend of road of straight line.
By day, by being arranged in the object of surrounding environment---structure that for example house, trees, shrub or high mountain cause may cause temporary transient vacation just (false positves), be obsolete end point.Yet, because not only in image but also on the regular hour, for example on the duration of 45 seconds, carry out the determining of existence of objects interfered, so described in filtering vacation is being just on the described time.At night, have and be tending towards less and less and may cause the positive structure of temporary transient vacation especially outside the city wall.
The time shutter of video image should be selected more greatly, for example be greater than 25 milliseconds.Thus, can in video image, obtain the long as far as possible track of objects interfered on the one hand, and can as far as possible optimally survey typical feature, for example course length, gradient or brightness on the other hand.Understanding additional parameter---for example, in the photodistributed situation of self speed and headlamp, detectable feature allows by the falling speed of the length guestimate objects interfered of track, and according to the size of the width guestimate objects interfered of track.
Objects interfered deflection consumingly in the region in video camera the place ahead.When selecting objects interfered candidate, be suitable for described estimation and consider this effect.General the having of selection for potential objects interfered: do not use in vehicle front central area or apart from the object on the little height of runway, because described objects interfered may turn round and round.In addition, the estimation of the end point being caused by objects interfered should be supported by a plurality of objects, and described estimation is constant for the regular hour.Attempt thus eliminating the mistake being caused by infrastructure.In addition, in the end point of on-line calibration, can expect all the time the end point of finding of the unknown falling speed that depends on self speed and objects interfered.This is not applicable under significant prominent feature due to storm in hypothesis.
Fig. 4 illustrates for identifying the process flow diagram of method of objects interfered of the surrounding air of vehicle.For example can be according to realizing described method in the equipment described in Fig. 1.In step 421, carry out determining line structure at least one image-region of at least one image of vehicle-periphery.Described at least one image may relate at the image shown in Fig. 2 and 3.In step 425, carry out the determining of position in position and the second disappearance region the second line structure in the first disappearance region of First Line structure.In step 427, the objects interfered of imaging in described at least one image is asked in the position of carrying out position based on the first disappearance region and the second disappearance region.In other step, can continue to process the information about objects interfered, so that embodiment surveys as inclement weather.In order to ensure determining of the existence of objects interfered, can process a plurality of images according to described methods analyst.For example, at the image that for example may can one after the other ask for each other on a plurality of times of analyzing and processing video camera within the time period between half a minute to one minute.Can the analyzing and processing based on a plurality of images determine the information about objects interfered.At this, can implement all method steps for each image, and these single results aspect the existing of objects interfered of asking for thus can be summarized in to net result subsequently.Also can only implement each method step for each in image, for example, to determine reliably the position in the first disappearance region, the second disappearance region or two disappearance regions.For example can the disappearance region based on asking for ask for the existence of objects interfered on a plurality of images.
Embodiment described and illustrated in the accompanying drawings only exemplarily selects.Different embodiment can be intactly or about each feature combination with one another.An embodiment also can supplement by the feature of another embodiment.In addition can repeat, and carry out steps of a method in accordance with the invention to be different from the order of described order.
Claims (10)
1. for identifying the method for objects interfered (102) for the surrounding air of vehicle (100), said method comprising the steps of:
In at least one image-region of the image (230) of the surrounding environment of described vehicle (100), determine (421) a plurality of line structures (102,104);
Determine the position in the first disappearance region (344) of First Line structure (104) and the position in the second disappearance region (342) of the second line structure (102) in (425) described a plurality of line structures;
The objects interfered (102) of (427) imaging in described image is asked in the position in the position based on described the first disappearance region and described the second disappearance region, and described objects interfered representative is arranged in the object of the surrounding air of described vehicle.
2. method according to claim 1, described method has selects the imaging in described image (230) of region that the headlamp (108) by described vehicle (100) throws light on as the step of described at least one image-region.
3. according to the method described in any one of the preceding claims, wherein, in the step of dividing, select the line structure of the trend of the running section of vehicle (100) described in those marks in described line structure as First Line structure (104).
4. according to the method described in any one of the preceding claims, wherein, in the step of dividing, select the line structure of mark of trend of running section that those in described line structure do not represent described vehicle (100) as the second line structure (102).
5. according to the method described in any one of the preceding claims, wherein, in the step of position of determining (425) described second disappearance region (442), determine that following disappearance region is as described the second disappearance region: in the great majority disappearance of the second line structure (102) described in described disappearance region.
6. according to the method described in any one of the preceding claims, wherein, in described definite step, determine another position in another the second disappearance region (442) of described the second line structure (102), wherein, also the step of the objects interfered (102) of (427) imaging in described image is implemented to ask in another position based on described another the second disappearance region.
7. according to the method described in any one of the preceding claims, the step providing when the position in described the second disappearance region (342) is positioned at above or below the position in described the first disappearance region (344) about the information of the existence of described objects interfered (102) is provided described method.
8. method according to claim 7, wherein, provides the described information of the existence about described objects interfered (102) interface of the light function (112) that is given to described vehicle (100).
9. for identifying the equipment of objects interfered for the surrounding air of vehicle (100), described equipment is configured to implement according to the step of the method described in any one in claim 1 to 8.
10. a computer program, it has program code, for implementing according to the method described in claim 1 to 8 any one when the executive routine on equipment.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011081391A DE102011081391A1 (en) | 2011-08-23 | 2011-08-23 | Method and device for detecting disturbing objects in the ambient air of a vehicle |
| DE102011081391.8 | 2011-08-23 | ||
| PCT/EP2012/062576 WO2013026599A1 (en) | 2011-08-23 | 2012-06-28 | Method and device for detecting disturbing objects in the surrounding air of a vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103748600A true CN103748600A (en) | 2014-04-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280040814.7A Pending CN103748600A (en) | 2011-08-23 | 2012-06-28 | Method and device for detecting disturbing objects in the surrounding air of vehicle |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20140254873A1 (en) |
| EP (1) | EP2748759A1 (en) |
| CN (1) | CN103748600A (en) |
| DE (1) | DE102011081391A1 (en) |
| WO (1) | WO2013026599A1 (en) |
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|---|---|---|---|---|
| DE102016204011A1 (en) | 2016-03-11 | 2017-09-14 | Robert Bosch Gmbh | Device for determining a misalignment of a detection device attached to a vehicle |
| DE102017208994A1 (en) | 2017-05-29 | 2018-11-29 | Audi Ag | Method for determining result image data |
| US20200039420A1 (en) * | 2018-08-06 | 2020-02-06 | Koito Manufacturing Co., Ltd. | Vehicle lamp |
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| US7983446B2 (en) * | 2003-07-18 | 2011-07-19 | Lockheed Martin Corporation | Method and apparatus for automatic object identification |
| DE102009038364A1 (en) * | 2009-08-23 | 2011-02-24 | Friedrich-Alexander-Universität Erlangen-Nürnberg | Method and system for automatic object recognition and subsequent object tracking according to the object shape |
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2011
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2012
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- 2012-06-28 EP EP12732625.4A patent/EP2748759A1/en not_active Withdrawn
- 2012-06-28 CN CN201280040814.7A patent/CN103748600A/en active Pending
- 2012-06-28 WO PCT/EP2012/062576 patent/WO2013026599A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2013026599A1 (en) | 2013-02-28 |
| DE102011081391A1 (en) | 2013-02-28 |
| US20140254873A1 (en) | 2014-09-11 |
| EP2748759A1 (en) | 2014-07-02 |
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